Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search

Details Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search

2006-01-14

arxiv.org/abs/cs/0601063v1

International Journal of Advanced Robotics Systems, Vol.2No3. (2005)

Computer Science

Robotics

www.ars-journal.com

Scientific paper

Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance.

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